private void DroneTakeOff()
{
droneClient.FlatTrim();//before take off send this command
headPositionStart = OculusClient.GetOrientation();
if (lastCommandSent != CommandType.TakeOff)
{
droneClient.Takeoff();
lastCommandSent = CommandType.TakeOff;
}
}
//head dx, sx, up, down
private void OculusHandle()
{
oculusXText = "On Hold";
oculusYText = "On Hold";
var cameraPositionNew = OculusClient.GetOrientation();
var delta = headPositionStart.X - cameraPositionNew.X;
var compare = delta;
if (delta < 0)
{
delta *= -1;
}
if (delta >= xThreshold)
{
if (compare > 0)
{
oculusXText = "Right";
if (lastCommandSent != CommandType.TurnRight)
{
lastCommandSent = CommandType.TurnRight;
droneClient.Progress(Drone.Commands.FlightMode.Progressive, yaw: 0.4f);
}
}
else
{
oculusXText = "Left";
if (lastCommandSent != CommandType.TurnLeft)
{
lastCommandSent = CommandType.TurnLeft;
droneClient.Progress(Drone.Commands.FlightMode.Progressive, yaw: -0.4f);
}
}
return;
}
delta = headPositionStart.Y - cameraPositionNew.Y;
compare = delta;
if (delta < 0)
{
delta *= -1;
}
if (delta >= yThreshold)
{
if (compare > 0)
{
oculusYText = "Up";
if (lastCommandSent != CommandType.GoUp)
{
lastCommandSent = CommandType.GoUp;
droneClient.Progress(Drone.Commands.FlightMode.Progressive, gaz: 0.4f);
}
}
else
{
oculusYText = "Down";
if (lastCommandSent != CommandType.GoDown)
{
lastCommandSent = CommandType.GoDown;
droneClient.Progress(Drone.Commands.FlightMode.Progressive, gaz: -0.4f);
}
}
}
}